EP4194989C0 - Leitsysteme und -verfahren für materialhandhabungsfahrzeug - Google Patents

Leitsysteme und -verfahren für materialhandhabungsfahrzeug

Info

Publication number
EP4194989C0
EP4194989C0 EP22211803.6A EP22211803A EP4194989C0 EP 4194989 C0 EP4194989 C0 EP 4194989C0 EP 22211803 A EP22211803 A EP 22211803A EP 4194989 C0 EP4194989 C0 EP 4194989C0
Authority
EP
European Patent Office
Prior art keywords
procedures
material handling
guidance systems
handling vehicles
vehicles
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP22211803.6A
Other languages
English (en)
French (fr)
Other versions
EP4194989B1 (de
EP4194989A1 (de
Inventor
Sathvik Murli
Anthony V D'accolti
Joel N Sunny
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Raymond Corp
Original Assignee
Raymond Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Raymond Corp filed Critical Raymond Corp
Publication of EP4194989A1 publication Critical patent/EP4194989A1/de
Application granted granted Critical
Publication of EP4194989B1 publication Critical patent/EP4194989B1/de
Publication of EP4194989C0 publication Critical patent/EP4194989C0/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/12—Target-seeking control

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Optics & Photonics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Traffic Control Systems (AREA)
  • Forklifts And Lifting Vehicles (AREA)
EP22211803.6A 2021-12-07 2022-12-06 Leitsysteme und -verfahren für materialhandhabungsfahrzeug Active EP4194989B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US202163286909P 2021-12-07 2021-12-07

Publications (3)

Publication Number Publication Date
EP4194989A1 EP4194989A1 (de) 2023-06-14
EP4194989B1 EP4194989B1 (de) 2025-04-16
EP4194989C0 true EP4194989C0 (de) 2025-04-16

Family

ID=84421595

Family Applications (1)

Application Number Title Priority Date Filing Date
EP22211803.6A Active EP4194989B1 (de) 2021-12-07 2022-12-06 Leitsysteme und -verfahren für materialhandhabungsfahrzeug

Country Status (6)

Country Link
US (1) US20230174358A1 (de)
EP (1) EP4194989B1 (de)
CN (1) CN116242352A (de)
AU (1) AU2022279552A1 (de)
CA (1) CA3184664A1 (de)
MX (1) MX2022015446A (de)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20240232799A1 (en) * 2023-01-09 2024-07-11 Steven Kruger Methods, devices, and systems for improving material handler efficiency
AU2024201269A1 (en) * 2023-03-01 2024-09-19 The Raymond Corporation Systems and methods for generating coverage fields for obstacle detection

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8577551B2 (en) * 2009-08-18 2013-11-05 Crown Equipment Corporation Steer control maneuvers for materials handling vehicles
US9046893B2 (en) * 2011-05-31 2015-06-02 John Bean Technologies Corporation Deep lane navigation system for automatic guided vehicles
US20140058634A1 (en) * 2012-08-24 2014-02-27 Crown Equipment Limited Method and apparatus for using unique landmarks to locate industrial vehicles at start-up
US20130054129A1 (en) * 2011-08-26 2013-02-28 INRO Technologies Limited Method and apparatus for using unique landmarks to locate industrial vehicles at start-up
US9928652B2 (en) * 2013-03-01 2018-03-27 Apple Inc. Registration between actual mobile device position and environmental model
US11412157B1 (en) * 2014-12-30 2022-08-09 Alarm.Com Incorporated Continuous target recording
US20230005374A1 (en) * 2019-09-17 2023-01-05 Mobileye Vision Technologies Ltd. Systems and methods for predicting blind spot incursions
US11884294B2 (en) * 2019-12-30 2024-01-30 Nvidia Corporation Lane change planning and control in autonomous machine applications
US11851310B2 (en) * 2020-04-13 2023-12-26 Hd Hyundai Xitesolution Co., Ltd. Autonomous forklift truck
WO2021242957A1 (en) * 2020-05-27 2021-12-02 Vimaan Robotics, Inc. Real time event tracking and digitization for warehouse inventory management
US11508078B2 (en) * 2020-08-05 2022-11-22 Lineage Logistics, LLC Point cloud annotation for a warehouse environment
US12399501B2 (en) * 2020-12-10 2025-08-26 AI Incorporated Method of lightweight simultaneous localization and mapping performed on a real-time computing and battery operated wheeled device
US20220268919A1 (en) * 2021-02-24 2022-08-25 Amazon Technologies, Inc. Techniques for providing motion information with videos
US20220341786A1 (en) * 2021-04-21 2022-10-27 Chiseki Yamaguchi Color change identificaton method

Also Published As

Publication number Publication date
EP4194989B1 (de) 2025-04-16
AU2022279552A1 (en) 2023-06-22
CA3184664A1 (en) 2023-06-07
CN116242352A (zh) 2023-06-09
EP4194989A1 (de) 2023-06-14
MX2022015446A (es) 2023-06-08
US20230174358A1 (en) 2023-06-08

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